BE1024859B1 - AN ENERGETIC AUTONOMOUS, SUSTAINABLE AND INTELLIGENT ROBOT - Google Patents

Abstract

An energetic Autonomous, Sustainable and Intelligent Robot (ESAIR) that can move within a scope. The Robot is autonomous from an energy point of view and determines how and when certain tasks are performed.

Description

(30) Priority data:

(73) Holder (s):

Ai Robots

9790, WORTEGEM-PETEGEM Belgium (72) Inventor (s):

SLEMBROUCK Mike 8750 ZWEVEZELE Belgium

LORREZ Wesley 8790 WAREGEM Belgium (54) AN ENERGETICALLY AUTONOMOUS, DURABLE AND INTELLIGENT ROBOT (57) An energetically Autonomous, Sustainable and Intelligent Robot (ESAIR) that can move within an operating range. From an energetic point of view, the Robot is autonomous and determines how and when certain tasks are performed.

s 'e .ï' · »8 s \\ sriSSÓï's ïïySfiNX:

Rsôi,

BELGIAN INVENTION PATENT

FPS Economy, K.M.O., Self-employed & Energy

Intellectual Property Office

Publication number: 1024859 Filing number: BE2017 / 0067

International classification: G05D 1/00 Date of issue: 24/07/2018

The Minister of Economy,

Having regard to the Paris Convention of 20 March 1883 for the Protection of Industrial Property;

Having regard to the Law of March 28, 1984 on inventive patents, Article 22, for patent applications filed before September 22, 2014;

Having regard to Title 1 Invention Patents of Book XI of the Economic Law Code, Article XI.24, for patent applications filed from September 22, 2014;

Having regard to the Royal Decree of 2 December 1986 on the filing, granting and maintenance of inventive patents, Article 28;

Having regard to the application for an invention patent received by the Intellectual Property Office on 23/05/2017.

Whereas for patent applications that fall within the scope of Title 1, Book XI, of the Code of Economic Law (hereinafter WER), in accordance with Article XI.19, § 4, second paragraph, of the WER, the granted patent will be limited. to the patent claims for which the novelty search report was prepared, when the patent application is the subject of a novelty search report indicating a lack of unity of invention as referred to in paragraph 1, and when the applicant does not limit his filing and does not file a divisional application in accordance with the search report.

Decision:

Article 1

AiRobots, Spitaalbosstraat 2, 9790 WORTEGEM-PETEGEM Belgium;

represented by

MARCHAU Michel, Guido Gezellestraat 50, 8020, EAST CAMP;

a Belgian invention patent with a term of 20 years, subject to payment of the annual taxes as referred to in Article XI.48, § 1 of the Economic Law Code, for: AN ENERGETICALLY AUTONOMOUS, SUSTAINABLE AND INTELLIGENT ROBOT.

INVENTOR (S):

SLEMBROUCK Mike, Processiestraat 10A, 8750, ZWEVEZELE;

LORREZ Wesley, Fazantenlaan 16, 8790, WAREGEM;

PRIORITY :

BREAKDOWN:

Split from basic application: Filing date of the basic application:

Article 2. - This patent is granted without prior investigation into the patentability of the invention, without warranty of the merit of the invention, nor of the accuracy of its description and at the risk of the applicant (s).

Brussels, 24/07/2018,

With special authorization:

BE2017 / 0067

An energetically Autonomous, Sustainable and Intelligent Robot.

The present invention concerns an energetically Autonomous, Sustainable and Intelligent Robot (EASIR), which is constructed in such a way that it can perform one or more tasks, eg gardening, cleaning, vacuuming, etc.

STATE OF THE ART.

Robots are developed to perform different tasks in the household, but also to perform tasks in other areas of society and industry.

Most robots should be able to move freely, which poses a problem for the robot's energetic autonomy, especially if the robot uses a relatively large amount of energy. Connecting the robot over an electrical cable to a power supply point can be a solution. However, this solution limits the possible use of the robot. Another possibility can be found in a larger battery, which is part of the robot, but this increases the weight of the robot, resulting in an even greater need for energy. When used for gardening, a solution has been found by providing a docking station that allows regular charging of the battery. Such a robot for mowing the lawn is described in US 2013/212994. However, this robot has the drawback that an electrical power supply is required to power the docking station. Another drawback lies in the limited time within which the robot can be used continuously; this time is limited by the capacity of the robot's battery.

BE2017 / 0067

All these drawbacks are overcome by the robot of the present invention.

PURPOSE OF THE INVENTION.

It is the object of the present invention to provide an energetically Autonomous, Durable and Intelligent Robot (EASIR), capable of moving within a scope and comprising an energy generating source, a computerized visual system, a positioning system a drive system for moving the robot, a tool for performing a task within the scope, a processing unit for processing data signals from the computerized imaging system and / or the positioning system, the processing unit being arranged to Artificial Intelligent system to be fed in such a way that a detailed 3D plan of the scope or part of it is obtained and that command signals are obtained for the drive system and the implement; artificial intelligent software to interpret the environment and to make decisions based on own knowledge and a memory to save the plan of the scope or part of it.

This robot may also include means for storing energy as well as means for determining within the scope the best points or areas where the energy generating source can receive external energy to charge the means for storing energy and to obtain the best determine the period within which external energy can be received, whereby these best points or areas can be stored on the plan of the scope.

BE2017 / 0067

The operating range may include multiple non-interconnected operating ranges or partial non-interconnecting operating ranges.

This robot can further comprise a gyroscope and / or a compass.

This robot can further comprise an electronic communication device which can be provided with a screen.

The implement can be a lawnmower that includes a reel mower.

This robot may include a four wheel drive system and / or a drive system based on the Caterpillar system.

ïo This robot can include an automatic height adjustment for the mower.

This robot can include hardware and programs to perform the function of guardian.

It is further the object of the present invention to provide a method of mowing a lawn using the aforementioned robot, comprising the following steps: taking an image of the lawn to be mowed by means of a computerized visual system; analyzing the recorded data to interpret the environment and mapping the lawn area and / or the obstacles and / or a house or building and / or the boundaries of the lawn; using analyzed recorded data to power the robot and instructing the robot to cut the grass.

The method of mowing a lawn may further include the step of measuring the height of the grass; in addition, instructing the robot to mow the grass includes instructing to mow at an appropriate height.

It is further the object of the present invention to provide

BE2017 / 0067 a computer program comprising computer program code means which, if the program is running on a computer, performs all steps of the above method.

It is further the object of the present invention to provide a product with a computer program which product comprises computer program code means stored on a computer readable resource and that, if the product with the program runs on a computer , executes the aforementioned method.

BRIEF DESCRIPTION OF THE FIGURES

Figure 1A shows two general views of a robot according to the invention: a figure shows a side view of a robot for mowing a lawn, the second figure shows a perspective view of such a robot for mowing a lawn.

Figure 1B shows a block diagram of a robot according to the invention.

Figure 2 illustrates a method of using a robot to mow a lawn.

Figure 3 illustrates different ways to use the charging capacity information (or the availability of power) at different locations (charging locations) within the scope.

Figure 4 illustrates a reel mower type lawnmower.

Figure 5 illustrates a block diagram of a method of cutting the grass according to a given pattern.

Figure 6 shows a perspective view of a lawnmower robot equipped with a drive system based on the caterpillar system.

Figure 7 shows a block diagram of a lawn maintenance method.

BE2017 / 0067

Figure 8 shows a block diagram of a method of adding a new scope to the robot's operational tasks.

DETAILED DESCRIPTION OF EMBODIMENTS

Definitions: The following terms used in the description and / or claims have the following meanings:

“Energy generating means” means any means that collects energy from outside the robot and converts this energy into energy that can be used by the robot eg solar cells, windmills, etc.

"A computerized visual system" means a 3D visual system or a stereo visual camera, an IR depth camera, a 3D camera, an RGB sensor, a detector based on sound detection, a heat camera or a combination of such cameras; the cameras can be connected to a computer element or to a processing unit, which can analyze the images of the cameras in order to obtain information such as the distance to a certain object, the height of a certain object, characteristics of displayed objects, etc.

"To understand the environment or the map" means, after analyzing the recorded map and by using, for example, image recognition techniques, determining the nature of the surface in the environment (near or further away) of the robot, eg the surface is a lawn, or the surface is a path, whether the surface belongs to a building or a tree, or to determine characteristics of specific things in the environment, such as the height of the grass, etc.

For example, “a positioning system” means a positioning system based on a number of fixed points detected and

BE2017 / 0067 represented by a computerized visual system or a positioning system based on GPS or a system based on local “beacons” or a system based on infertile instruments such as gyroscopes and / or compasses, a system based on visual markers used by the visual system recognized or tracked or a combination of such systems or any other appropriate positioning system. The positioning system may be integrated into the processor and associated software.

"Operational tasks" means the tasks that can be performed by the robot.

"Operational time" means the time to complete a given task.

According to one aspect of the invention, an energetically Autonomous, Durable and Intelligent Robot (hereinafter referred to as a robot) comprises a body (Figure 1B, 104), a drive system (105) supporting the robot body and designed to move the robot over the operating area can move, an energy generating source (101), a tool (106) that can perform a certain task, a computerized visual system (102) and a processor with the necessary software (103) for processing the data signals of the computerized visual system and, optionally, the locating system to map and understand the robot's environment to provide control signals for the drive system and implement, and further a software system (103) to control the robot. The robot also includes a decision unit and uses artificial intelligence techniques. The decision unit determines the operational task to be performed based on a number of criteria. For example, in the case of a robot

Ί

BE2017 / 0067 for a lawnmower, the robot decides to mow the lawn based on the time elapsed since the lawn was last cut and / or based on the height of the grass and / or based on the growth rate of the grass and / or the degree of moisture of the grass and / or the weather forecast and / or based on the time required to mow the lawn and / or based on the availability of the necessary energy, etc. The decision unit can be part of the processor.

The robot may be provided with means for storing energy, but this is not absolutely necessary.

The mechanical and electronic design of the robot can be carefully and precisely executed to create a body, a drive system and an electronic system that is extremely light to obtain a system that is highly efficient from an energetic point of view. The specific low weight and resulting stiffness of the invention are a key to success.

As an example: to be energetically efficient in the case of a lawn robotic lawnmower, the robot's weight is preferably less than 2.1 kg. Today, the smallest robotic lawnmowers weigh more than 7 kg and they are not equipped with a self-powered energy system. but they need a docking station to charge. The robotic lawnmower can, as an option, be equipped with a battery to store energy, which allows the robot to operate when there is no sun or in shaded areas.

Furthermore, in the case of a robotic lawnmower, the computerized visual system together with the artificial intelligence system can detect a lawn as well as obstacles, holes, hills, barriers, persons,

B E2017 / 0067 a house, ... It can also detect the boundaries of cutting areas. It can also be used to create a 3D depth map of the area, including the height of the grass, the location of a house and trees.

In some embodiments, the energetically Autonomous,

Durable and Intelligent Robot also include a gyroscope and / or a compass in order to obtain further data for the artificial intelligence system. This allows the robot to know exactly its horizontal orientation and to create an informative map of the area based on levels. In the case of a robotic lawnmower, this information allows the artificial intelligence system to decide to cut a lawn in a smarter way, taking into account the different levels.

Figure 2 illustrates a method of using the robot to mow a lawn. In a first step (201), on the stored map obtained by the computerized visual system, the robot determines its own location and the target (end point of the task mowing).

In the next step (202) a route is determined between the known own place and the target (end point). This route is being verified,

ie this route runs over the lawn to be mowed, there are no obstacles insurmountable to the robot on this route, etc. In a next step (203), the robot is started and it moves along the defined route between its own place and the end point In step 204, the robot continuously moves to the end point and finally in step 205, the robot movement is stopped when the end point is reached.

Step 204 may include other steps, e.g., a step (206) in which the type of soil in front of the robot is recognized (e.g., the area in front of the robot may or may not be covered with grass); and / or a step (207) in which

BE2017 / 0067 obstacles in front of the robot are recognized; and finally a step (208) in which the robot mows the grass if grass is detected before the robot and if no obstacles are detected.

In some further embodiments, the energetically Autonomous, Durable and Intelligent Robot mower also includes a cage system (Figure 4) to achieve the highest quality grass cutting performance. Today, all commercial household robotic mowers use a rotating blade system because the known cage systems have a weight that is too large. In the present invention, we propose for the first time a robotic lawn mower that uses a newly designed cage system to cut the grass with the highest quality. A mower with rotating blades damages the grass because brute force is used to cut the grass. On the contrary, a reel mower works like scissors and gently cuts the grass. Due to the high cutting quality, professional mowers for football fields and golf courses are generally cage type mowers.

To take into account the weight limitation of the robot, the blades of the newly designed cage system are made of hard plastic. Each rotating blade forms one leg of the above scissors while the other leg is formed by a metal strip mounted on the fixed part of the reel mower.

Again, very generally, the energy generating system may, for example, consist of solar panels, wind turbines or any other means that generates energy on the robot itself, with the exception of means for storing energy. The robot can be equipped with one or more wings on which solar cells are installed. These wings

B E2017 / 0067 can be deployed e.g. to increase the energy supplied by the solar cells.

In some further embodiments, the energetically Autonomous,

Durable and Intelligent Robot mower also include an automatic height adjustment that allows the robot to determine the height at which the grass is to be cut. Today's robotic lawnmowers continuously cut the grass, cutting only a small part of the height of the grass. The cutting height is set manually at a fixed height by the user.

ïo By introducing an electronic automatic height system, the robotic lawnmower can adjust the height of the grass so that it is possible to maintain the grass in a more intelligent way. For example, it is a golden rule in grass maintenance to cut the grass at no more than 1/3 of the height, just as the grass should not be cut continuously. Contemporary robotic lawnmowers cannot provide such a quality of grass maintenance while the system proposed in the present invention can. It can detect the height of the grass and also adjust the cutting height of the grass. In this way, this system allows a level of maintenance of the grass that is better than today's robotic mowers.

A method of maintaining a lawn according to the present invention is shown in block diagram 7.

In step 701, the height of the grass and its growth rate is measured and the data from these measurements is stored.

In step 702, the operational time of the robot can be determined based on the grass height, giving the grass the opportunity to grow and be cut at a maximum 1/3 of the grass height.

BE2017 / 0067

In step 703, the maximum cutting height is determined during the operation of the robot; this maximum cutting height is determined on the basis of the

1/3 rule.

In step 704, step 703 is repeated until the appropriate height of the grass is reached after the necessary grass recovery time.

It is also possible to give instructions to the robot to mow lines (stripes) in the grass or messages and logos (eg on Valentine's Day a heart, or a name, or ...). A method of mowing a lawn according to the present invention and according to a particular pattern is shown in the block diagram of Figure 5. According to the method shown, map information of the operating area is retrieved in step 501 as well as the information regarding the desired mowing pattern. In step 502, the desired pattern is mapped to the scope map while in step 503, the mowing path that realizes the desired pattern is calculated and also the height of each location along this mowing path. Finally, in step 504, the mowing robot is driven along the calculated mowing path. In an intermediate step 505, existing buildings can be recognized in order to direct patterns, if desired, on one of these buildings.

In some embodiments, the energetically Autonomous, Durable and Intelligent Robot Mower also includes an electronic communication device. This device allows to send alarms, images, video, hmdemis information to the user as well as download weather forecast information. The weather forecast can be used by the artificial intelligence system for charging activities. The wireless communication method also allows users to control the device remotely.

BE2017 / 0067

Furthermore, in the case of a robotic lawnmower, the electronic communication device can be used to send mower information to the user or lawn related images and the weather forecast information may allow the robotic lawnmower to draw up a schedule for its mowing. activities. In some versions, the energetically Autonomous, Durable and Intelligent Robot can be programmed to function as a guard. The robot can move around the garden at different times and detect burglars or traces of burglary. This allows the robot to inspect windows and doors for signs of burglary. Or the robot can take a position at a back door and monitor it permanently. Or the robot can be programmed to monitor a swimming pool against the drowning of children or adults. The robot can also be programmed to perform various other visually controlled tasks in the garden, such as chasing away moles. In a preferred embodiment of the robotic lawnmower, one or more of these "monitoring" functions can be provided.

Another aspect of the invention consists in a method of configuring an energetically Autonomous, Sustainable and Intelligent Garden Robot. The method involves recording image and depth data using a camera, a stereo image camera, an IR depth camera, a 3D camera, a heat camera, or any other image capture device.

This may also include analyzing the recorded data to understand the environment and map the area including obstacles, houses, lawn boundaries and at the same time identify where obstacles are, recognize people and animals . The method uses the analyzed date to drive the robot and to

BE2017 / 0067 take appropriate action as a result of the analyzed situation and the available data and instructions.

The same method measures the height of the grass and instructs the robot to mow at an appropriate height. This method also ensures that the mower does not collide with trees, people or other obstructions and that the mower does not hit any obstacles or barriers while ensuring that the mower recognizes hills. The method measures the level of elevation before deciding to climb the hill or how to climb the hill.

Another aspect of the invention consists in a method for realizing a smart energetically autonomous sustainable charging system that can be part of the energetically autonomous sustainable intelligent robot. The method uses the computerized visual system and / or the artificial intelligence system to track and discover the best charging places, for example the best places in the garden to charge the robot by means of a solar panel mounted on the robot.

Based on location, time and weather conditions, the robot inspects and measures how much sunlight falls on a given location on the map. Measurements take into account obstacles that cause shadows. The robot calculates and estimates the best charging times and charging places, based on the available places and the current weather.

The system itself consists of a solar panel, a battery and electronics to carry out the charging.

Figure 3 illustrates different ways to use the charging capacity (or power availability) information at different locations (charging locations) within the scope. First, the availability of power at different locations within the scope is measured and the measured data for each location is stored (301) on the scope map (power map). The

BE2017 / 0067 time that the robot will need to perform a certain task is determined on the basis of the information present in the power card; the location and route of the robot are also determined during the execution of the task (302). If the robot is equipped with its own battery or other power capacity (303), place and route are mentioned above, determined by also taking into account the available charging capacity of its own battery or the power capacity (304). During the operations themselves (i.e. while performing the given task by the robot), the robot will go to a certain charging location when the power present in the battery falls below a certain level (e.g.

102% of the power required for the robot to reach the end point) (305).

Another aspect of the invention consists in a method of mowing in stripes or other patterns. The robot uses the computerized visual system and / or the artificial intelligence system to cut the grass in lines (stripes). It is well known that professionals cut the grass in stripes. Today's robotic lawnmowers mow the grass in casual patterns. This invention makes it possible to cut the grass in strips or other patterns. The method can also detect a house or building on the lawn and mow the lawn in line with the house to obtain a lawn that appears professionally cut. Or the user can send commands (as shapes, images, instructions) to the robotic lawnmower to cut patterns, signals, text, logos or other creative shapes in the lawn. For example, a user can instruct the robotic lawnmower to create a heart shape in the lawn stating his wife's name as well as instruct the mower to do so in the early morning of Valentine's Day.

In some embodiments, the energetically Autonomous, Durable and Intelligent Robot Mower creates a detailed 3D map of it

BE2017 / 0067 lawn, fences, trees, walls, bushes, flowers and its entire environment including the buildings on the property, so that the robot is fully aware of its environment.

In some embodiments, the Energetically Autonomous, Sustainable and Intelligent Robot Mower works together with one or more Energetically Autonomous, Sustainable and Intelligent Robot Mowers to mow large areas. They communicate with each other to determine each individual range they cover while sharing information such as charging point information, 3D maps, obstacle maps, for example.

Another aspect of the invention consists in a method of mowing multiple lawns. The method makes it possible to discover lawns that are not connected to the lawn on which the robot is. For example, there may be a lane between the lawn on which the robot is located and another lawn or the grass may be shared by a walkway. The robot can detect this via its computerized visual and artificial intelligence system. After detection, the robot informs the user and waits for further instructions. The user can order the robot to mow that other lawn as well or to leave it on the left. In case the user orders the robot to mow this lawn as well, the robot will then automatically mow both (or more) lawns until new instructions are given.

Figure 8 is a block diagram of a method for adding a new scope to the operational tasks of a robotic lawnmower of the present invention.

In a first step (801), the robot discovers in a distance view (a view that contains an indication of the distances between the robot itself and other things seen by the computerized visual system) lawns located near the current lawn, this is a lawn or scope that

BE2017 / 0067 has already been detected and processed by the robot. In a next step (802), upon detecting such a new lawn that is not connected to the current scope, the robot will verify that there is sufficient operational time (the time within which the robot can perform a task, based on the capacity of the installed battery). In a next step (803), the new lawn / scope is explored by the robot inserting loading locations on the map (see step 301 in Figure 3).

In step 804, the robot determines whether or not the newly explored lawn / scope can be added to the operations (= a list of tasks stored by the robot), based on the available operation time (= time based on the energy consumption of the robot during the performance of its task, on the capacity of the battery and on the amount of energy that can be received and stored in the “charging locations”) and the time required to maintain the new lawn / operating area. If the result of step 804 is positive, then in step 805 the new scope / lawn is added to the operational tasks.

In some embodiments, the energetically Autonomous, Durable and Intelligent Robotic Mower may include a communication device such as a display device or LEDs. The display device or LEDs can be used to display information such as battery level, mowing information or error information.

In some embodiments, the drive system of the energetic

Autonomous, Durable and Intelligent Robot Mower to be a four wheel drive system. A four-wheel drive system, compared to today's robotic mowers, will allow a more stable system and better traction to climb hills, for example.

BE2017 / 0067

In some embodiments, the drive system of the energetically Autonomous, Durable and Intelligent Robot may be a flying mechanism such as a drone or a mechanism suitable for the water, such as a boat

In some embodiments, the drive system of the energetic

Autonomous, Durable and Intelligent Robot Mower include a method of eliminating and removing clinging grass clippings and / or other debris that could block the robot, as is the case with today's commercial lawn mowers. The method consists of applying a super hydrophobic coating on the interior of the device as well as on the parts of the cage system. Any dirt or grass clippings that come into contact with this coating are repelled and easily fall off; the extra coating ensures that dirt or grass clippings do not stick to or on the internal parts of the robotic lawnmower.

In some embodiments, the drive system of the energetically Autonomous, Durable and Intelligent Robotic Lawnmower may be a caterplillar-based system (Fig. 8). Compared to current robotic lawnmowers, a caterpillar-type propulsion system provides a more stable system with higher traction for example in hills mount.

The invention is not limited to the examples and embodiments described above. The different characteristics belonging to any of these examples or embodiments can also be used in other embodiments. The present invention also includes embodiments that include various combinations of the above characteristics. In particular, characteristics described in connection with an energetically Autonomous,

Durable and Intelligent Robot Mower can also be used in others

BE2017 / 0067 robots with a task other than mowing. Such energetically Autonomous, Sustainable and Intelligent Robots are also part of the invention.

Other variations on the described embodiments can be understood and implemented by persons skilled in the art when practically discussing the claimed invention from a study of the figures, the description and the appended claims. In the conclusions, the indefinite article “one” does not exclude the use of multiple. The mere fact that certain measures are listed in mutually different dependent claims in no way indicates that a combination of these measures cannot be used to advantage. A reference in the claim cannot be interpreted as limiting the scope of the protection.

BE2017 / 0067

Addendum

Translation of the concepts in the figures

Fig. IB:

Element 101: "energy generating source" means "energy generating source";

Element 102: "computer vision system" means "computerized visual system";

Element 103: "software" means "software";

Element 104: "robot body" means "robot body";

Element 105: "drive system" means "drive system";

Element 106: “tool (ex .: lawn mower)” means “tool (eg lawn mower)”.

Fig. 2:

Element 201: “Determine location and destination on the known map” means “Determining place and destination on the known map”;

Element 202: "Verify route ahead on the map" means "Verify route ahead on the map";

Element 203: "Start and route by moving the robot towards its destination" means "Starting the route by moving the robot to its target";

Element 204: "Continuously driving towards destination while:" means "Continuous driving towards destination while:";

Element 205: "Finish on reaching destination" means "Finish on reaching the goal";

BE2017 / 0067

Element 206: "Recognizing the type of the ground in front of that robot" means "Recognizing the type of soil for the robot";

Element 206: "Recognizing obstacles in front of the robot" means "Recognizing obstacles for the robot";

Element 207: “Mowing if grass detected and no obstacles” means “Mowing if grass is detected and no obstacles”.

Fig. 3:

Element 301: “Measure and store data about the power availability for each location on the map” means “Measure and store power availability data for each place on the map”;

Element 302: “Determine robotic operations time & location / path based on the Power map information” means “Determining robot operating time & place / route based on power map information”;

Element 303: “if there is a battery or other power capacity installed” means “if a battery or other power capacity is installed”;

Element 304: “Determine robotic operations time & location / path based on the Power map information, as well as on the available charge capacity” means “Determine the operational time of the robot & place / route based on power map information as well as the available charging capacity";

Element 305: “During operations: Go to the determined charge location if only 2% extra power remains on top of the power needed to reach to the destination.” means "During the operations: Go to the specified charging site if only 2% extra power is left to reach the target".

BE2017 / 0067

Figure 5:

Element 501: “Retrieve map information + retrieve desired pattern information” means “Retrieve map information + retrieve desired pattern information”;

Element 502: "Map the pattern on the map, such as horizontal / vertical stripes, a name, a logo ..." means "Mapping the pattern, such as horizontal / vertical stripes, a name, a logo, .. . ”

Element 503: “Calculate mowing path + height for each location along the path” means “Calculate mowing route + height of each place along the route”;

Element 504: "Drive and mow as per defined path" means "Driving and mowing along specified route";

Element 505: “Recognize buildings to align patterns with the building” means “Recognize buildings to align the pattern with the building”.

Figure 7:

Element 701: “Measure and store data about the height of the grass and the speed it grows” means “Measure and store data regarding the height of the grass and its growth rate”;

Element 702: “Determine robotic operations time based on the grass height, allowing the grass to grow and be mowed at max 1/3 of the grass height” means “Determining the robot's operational time based on the height of the grass and thereby allow the grass to grow and be cut at max. 1/3 of the grass height ”;

B E2017 / 0067

Element 703: “During operations, determine max cut height based on the

1/3 rule to professionally mown lawn ”means“ Determining, during operations, the max cutting height based on the 1/3 rule to a professionally cut lawn ”

Element 704: “Repeat the path, based on allowing enough time for the grass to recover, until the desired height is reached” means “Repeat the route, allowing enough time for the grass to recover until the desired height is reached”

Figure 8:

Element 801: “While creating the map, detect lawns in the distance view, lawns that are located next to the current lawn” means “While creating a map, detect lawns in the distance view, lawns that are in the vicinity of the current lawn ”;

Element 802: “On detecting a new lawn area that is not connected to the current area, verify if there is enough operational time available to add a new area” means “When detecting a new lawn area that is not connected to the current area, verify that there is sufficient operational time to add a new area ”;

Element 803: “Explore the new discovered area and add locations to the map” means “Explore the newly discovered area and add places on the map”;

Element 804: “Determine if the new explored area can be added to the operations or not, based on the available operation time and needed time to maintain the new area” means “Determine whether or not the newly explored area can be added to the operations. added based on the

BE2017 / 0067 available operation time and time needed to maintain the new area ”;

Element 805: "" Add new area to the operational tasks "means" Add the new area to the operational tasks ".

2017/0067

Claims (12)

CONCLUSIONS 1. An energetically Autonomous, Sustainable and Intelligent Robot (ESAIR) capable of moving within an operating area that includes: - a source of energy generation (101); - a computerized visual system (102); - a positioning system; - a drive system to move the robot (105) - a tool for performing a task within the scope (106); - a processing unit for processing data signals originating from the computer imaging system and / or from the positioning system, the processing unit being arranged to supply an Artificial Intelligent system in such a way that a detailed 3D plan of the area of operation or of a part thereof is drawn up. and that command signals are obtained for the drive system and implement; - artificially intelligent software to analyze and interpret the environment and to make decisions based on own knowledge; - a memory to store the plan of the scope or part of it. The robot of claim 1 further comprising / - means for storing energy; - means to determine the best points or areas within the scope where the energy generating source can receive external energy to store the means of storing energy. B E2017 / 0067 and to determine the best time span within which external energy can be received; - where these best points or areas are stored on the scope plan. The robot according to any one of the preceding claims, wherein the operating area comprises a plurality of non-interconnected operating areas or operating areas which are partially unconnected. The robot according to any of the preceding claims, further comprising a gyroscope and / or a compass. The robot according to any one of the preceding claims, further comprising an electronic communication device which may be provided with a display. The robot according to any of the above claims, wherein the tool is a lawnmower comprising a reel mower (Fig. 4). The robot according to claim 6 comprising a four-wheel drive system and / or a drive system based on the Caterpillar system (Fig. 6). The robot according to any of claims 6 or 7, which comprises an automatic height adjustment for the mower. BE2017 / 0067 The robot according to any one of claims 6 to 8 comprising the hardware and the programs to perform the function of guard. A method of mowing a lawn comprising the robot according to any one of claims 6 to 9, comprising the following steps: - taking a picture of the lawn to be mowed by means of a computerized visual system; - analyzing the recorded data to interpret the environment and mapping the lawn area and / or obstacles and / or a house or building and / or the boundaries of the lawn; - using analyzed recorded data to power the robot; - instructing the robot to cut the grass. 15 The method of mowing a lawn according to claim 10, further comprising the step: - measuring the height of the grass; at which - instructing the robot to mow the grass includes instructing it to mow at an appropriate height. A computer program comprising computer program code means which, if the program is running on a computer, perform all steps of claim 10 or 11 BE2017 / 0067